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<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
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<p>Convertidor entre <a class="el" href="namespaceg2o.html">g2o</a> y opencv.  
 <a href="class_o_r_b___s_l_a_m2_1_1_converter.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_converter_8h_source.html">Converter.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:ac9d5a9ea7de26d34047aa0afddaa2091"><td class="memItemLeft" align="right" valign="top">static cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_converter.html#ac9d5a9ea7de26d34047aa0afddaa2091">toCvMat</a> (const <a class="el" href="classg2o_1_1_s_e3_quat.html">g2o::SE3Quat</a> &amp;SE3)</td></tr>
<tr class="memdesc:ac9d5a9ea7de26d34047aa0afddaa2091"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convierte SE3Quat a Mat.  <a href="#ac9d5a9ea7de26d34047aa0afddaa2091">More...</a><br /></td></tr>
<tr class="separator:ac9d5a9ea7de26d34047aa0afddaa2091"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4bc1702afbd33a5d90d39f1940157e08"><td class="memItemLeft" align="right" valign="top">static cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_converter.html#a4bc1702afbd33a5d90d39f1940157e08">toCvMat</a> (const <a class="el" href="structg2o_1_1_sim3.html">g2o::Sim3</a> &amp;Sim3)</td></tr>
<tr class="memdesc:a4bc1702afbd33a5d90d39f1940157e08"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convierte Sim3 a Mat.  <a href="#a4bc1702afbd33a5d90d39f1940157e08">More...</a><br /></td></tr>
<tr class="separator:a4bc1702afbd33a5d90d39f1940157e08"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a93055164116a8f35ecc5a9a5dcad1ca0"><td class="memItemLeft" align="right" valign="top">static cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_converter.html#a93055164116a8f35ecc5a9a5dcad1ca0">toCvMat</a> (const Eigen::Matrix&lt; double, 4, 4 &gt; &amp;m)</td></tr>
<tr class="memdesc:a93055164116a8f35ecc5a9a5dcad1ca0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convierte matrices Eigen a Mat.  <a href="#a93055164116a8f35ecc5a9a5dcad1ca0">More...</a><br /></td></tr>
<tr class="separator:a93055164116a8f35ecc5a9a5dcad1ca0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7558c9fde7b818582bee8b4a4ff00793"><td class="memItemLeft" align="right" valign="top">static cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_converter.html#a7558c9fde7b818582bee8b4a4ff00793">toCvMat</a> (const Eigen::Matrix3d &amp;m)</td></tr>
<tr class="memdesc:a7558c9fde7b818582bee8b4a4ff00793"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convierte matrices Eigen a Mat.  <a href="#a7558c9fde7b818582bee8b4a4ff00793">More...</a><br /></td></tr>
<tr class="separator:a7558c9fde7b818582bee8b4a4ff00793"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6748f1ecb782efc7741c1d2f6fbbed22"><td class="memItemLeft" align="right" valign="top">static cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_converter.html#a6748f1ecb782efc7741c1d2f6fbbed22">toCvMat</a> (const Eigen::Matrix&lt; double, 3, 1 &gt; &amp;m)</td></tr>
<tr class="memdesc:a6748f1ecb782efc7741c1d2f6fbbed22"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convierte matrices Eigen a Mat.  <a href="#a6748f1ecb782efc7741c1d2f6fbbed22">More...</a><br /></td></tr>
<tr class="separator:a6748f1ecb782efc7741c1d2f6fbbed22"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0972ca8f56ea15c1814f51be3804978f"><td class="memItemLeft" align="right" valign="top">static cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_converter.html#a0972ca8f56ea15c1814f51be3804978f">toCvSE3</a> (const Eigen::Matrix&lt; double, 3, 3 &gt; &amp;R, const Eigen::Matrix&lt; double, 3, 1 &gt; &amp;t)</td></tr>
<tr class="memdesc:a0972ca8f56ea15c1814f51be3804978f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convierte matrices SE3 de Eigen a Mat.  <a href="#a0972ca8f56ea15c1814f51be3804978f">More...</a><br /></td></tr>
<tr class="separator:a0972ca8f56ea15c1814f51be3804978f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abef47701eefdbc74c2c1625c140963fd"><td class="memItemLeft" align="right" valign="top">static std::vector&lt; cv::Mat &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_converter.html#abef47701eefdbc74c2c1625c140963fd">toDescriptorVector</a> (const cv::Mat &amp;Descriptors)</td></tr>
<tr class="memdesc:abef47701eefdbc74c2c1625c140963fd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convierte una matriz Mat de descriptores en un vector de descriptores Mat.  <a href="#abef47701eefdbc74c2c1625c140963fd">More...</a><br /></td></tr>
<tr class="separator:abef47701eefdbc74c2c1625c140963fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a000a7971e46afdc95d6692a70006182b"><td class="memItemLeft" align="right" valign="top">static Eigen::Matrix&lt; double, 3, 3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_converter.html#a000a7971e46afdc95d6692a70006182b">toMatrix3d</a> (const cv::Mat &amp;cvMat3)</td></tr>
<tr class="memdesc:a000a7971e46afdc95d6692a70006182b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convierte Mat a Eigen.  <a href="#a000a7971e46afdc95d6692a70006182b">More...</a><br /></td></tr>
<tr class="separator:a000a7971e46afdc95d6692a70006182b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a16b54bd921d9cdc83d289cfd1598fb3c"><td class="memItemLeft" align="right" valign="top">static std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_converter.html#a16b54bd921d9cdc83d289cfd1598fb3c">toQuaternion</a> (const cv::Mat &amp;M)</td></tr>
<tr class="memdesc:a16b54bd921d9cdc83d289cfd1598fb3c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convierte Mat a vector.  <a href="#a16b54bd921d9cdc83d289cfd1598fb3c">More...</a><br /></td></tr>
<tr class="separator:a16b54bd921d9cdc83d289cfd1598fb3c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0b73791a3e2d90b4de41aed0ece2d0a2"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classg2o_1_1_s_e3_quat.html">g2o::SE3Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_converter.html#a0b73791a3e2d90b4de41aed0ece2d0a2">toSE3Quat</a> (const cv::Mat &amp;cvT)</td></tr>
<tr class="memdesc:a0b73791a3e2d90b4de41aed0ece2d0a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convierte un Mat a SE3Quat.  <a href="#a0b73791a3e2d90b4de41aed0ece2d0a2">More...</a><br /></td></tr>
<tr class="separator:a0b73791a3e2d90b4de41aed0ece2d0a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac76ddd3b4d9a7e364e5cc72cfe483247"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classg2o_1_1_s_e3_quat.html">g2o::SE3Quat</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_converter.html#ac76ddd3b4d9a7e364e5cc72cfe483247">toSE3Quat</a> (const <a class="el" href="structg2o_1_1_sim3.html">g2o::Sim3</a> &amp;gSim3)</td></tr>
<tr class="memdesc:ac76ddd3b4d9a7e364e5cc72cfe483247"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convierte de Sim3 a SE3Quat.  <a href="#ac76ddd3b4d9a7e364e5cc72cfe483247">More...</a><br /></td></tr>
<tr class="separator:ac76ddd3b4d9a7e364e5cc72cfe483247"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a65fccab585e29d1acbf4c23e5ce69bdc"><td class="memItemLeft" align="right" valign="top">static Eigen::Matrix&lt; double, 3, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_converter.html#a65fccab585e29d1acbf4c23e5ce69bdc">toVector3d</a> (const cv::Mat &amp;cvVector)</td></tr>
<tr class="memdesc:a65fccab585e29d1acbf4c23e5ce69bdc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convierte un vector 3D de Mat a Eigen.  <a href="#a65fccab585e29d1acbf4c23e5ce69bdc">More...</a><br /></td></tr>
<tr class="separator:a65fccab585e29d1acbf4c23e5ce69bdc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7b71b64b74fd45b39b9a7f47ee80145"><td class="memItemLeft" align="right" valign="top">static Eigen::Matrix&lt; double, 3, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_o_r_b___s_l_a_m2_1_1_converter.html#af7b71b64b74fd45b39b9a7f47ee80145">toVector3d</a> (const cv::Point3f &amp;cvPoint)</td></tr>
<tr class="memdesc:af7b71b64b74fd45b39b9a7f47ee80145"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convierte Point3f a Eigen.  <a href="#af7b71b64b74fd45b39b9a7f47ee80145">More...</a><br /></td></tr>
<tr class="separator:af7b71b64b74fd45b39b9a7f47ee80145"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Convertidor entre <a class="el" href="namespaceg2o.html">g2o</a> y opencv. </p>
<p>Clase no instanciada, sin propiedades, conjunto de métodos de clase. Convierte elementos entre las formas de expresión de opencv y <a class="el" href="namespaceg2o.html">g2o</a>. Convierte en ambas direcciones Point, Vector, Mat, Egien::Matrix, g2o::sim3, g2o::SE2Quat. </p>
</div><h2 class="groupheader">Member Function Documentation</h2>
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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classg2o_1_1_s_e3_quat.html">g2o::SE3Quat</a> &amp;&#160;</td>
          <td class="paramname"><em>SE3</em></td><td>)</td>
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<p>Convierte SE3Quat a Mat. </p>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="structg2o_1_1_sim3.html">g2o::Sim3</a> &amp;&#160;</td>
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<p>Convierte Sim3 a Mat. </p>

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          <td>(</td>
          <td class="paramtype">const Eigen::Matrix&lt; double, 4, 4 &gt; &amp;&#160;</td>
          <td class="paramname"><em>m</em></td><td>)</td>
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<p>Convierte matrices Eigen a Mat. </p>

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          <td>(</td>
          <td class="paramtype">const Eigen::Matrix3d &amp;&#160;</td>
          <td class="paramname"><em>m</em></td><td>)</td>
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<p>Convierte matrices Eigen a Mat. </p>

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          <td>(</td>
          <td class="paramtype">const Eigen::Matrix&lt; double, 3, 1 &gt; &amp;&#160;</td>
          <td class="paramname"><em>m</em></td><td>)</td>
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<p>Convierte matrices Eigen a Mat. </p>

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          <td>(</td>
          <td class="paramtype">const Eigen::Matrix&lt; double, 3, 3 &gt; &amp;&#160;</td>
          <td class="paramname"><em>R</em>, </td>
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<p>Convierte matrices SE3 de Eigen a Mat. </p>

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          <td class="memname">std::vector&lt; cv::Mat &gt; ORB_SLAM2::Converter::toDescriptorVector </td>
          <td>(</td>
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          <td class="paramname"><em>Descriptors</em></td><td>)</td>
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<p>Convierte una matriz Mat de descriptores en un vector de descriptores Mat. </p>

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          <td>(</td>
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<p>Convierte Mat a Eigen. </p>

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          <td class="memname">std::vector&lt; float &gt; ORB_SLAM2::Converter::toQuaternion </td>
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          <td class="paramname"><em>M</em></td><td>)</td>
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<p>Convierte Mat a vector. </p>

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          <td class="memname"><a class="el" href="classg2o_1_1_s_e3_quat.html">g2o::SE3Quat</a> ORB_SLAM2::Converter::toSE3Quat </td>
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<p>Convierte un Mat a SE3Quat. </p>

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          <td class="memname">static <a class="el" href="classg2o_1_1_s_e3_quat.html">g2o::SE3Quat</a> ORB_SLAM2::Converter::toSE3Quat </td>
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          <td class="paramtype">const <a class="el" href="structg2o_1_1_sim3.html">g2o::Sim3</a> &amp;&#160;</td>
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<p>Convierte de Sim3 a SE3Quat. </p>

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          <td class="paramname"><em>cvVector</em></td><td>)</td>
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<p>Convierte un vector 3D de Mat a Eigen. </p>

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<p>Convierte Point3f a Eigen. </p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>/home/alejandro/Desarrollo eclipse/os1/include/<a class="el" href="_converter_8h_source.html">Converter.h</a></li>
<li>/home/alejandro/Desarrollo eclipse/os1/src/<a class="el" href="_converter_8cc.html">Converter.cc</a></li>
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